用2个电机实现4自由度仿生手指，提升机械手灵巧性
Design of an Adaptive Modular Anthropomorphic Dexterous Hand for Human-like Manipulation
- 基于生物协同机制设计4自由度手指，仅需2个电机驱动
- 构建五指模块化机械手，支持自适应抓握与物体操作
- 适合机器人灵巧操作研究者参考，兼顾性能与结构简化
生物协同已被广泛用于灵巧手设计，可在少量执行器下实现类人操作。然而过度耦合会降低灵巧性。本文提出一种具有4个自由度、由2个执行器驱动的仿生手指拓扑，并基于此开发了一种自适应、模块化的灵巧手。通过分析人体手势和关节协调机制，将运动学特性转化为模块化手指结构。基于该仿生映射，设计了五指模块化手部并建立其运动学模型，以分析自适应抓握与在手操作能力。最后构建物理原型并进行初步实验，验证了所提设计与分析的有效性。
原文摘要 · Abstract (English)
Biological synergies have emerged as a widely adopted paradigm for dexterous hand design, enabling human-like manipulation with a small number of actuators. Nonetheless, excessive coupling tends to diminish the dexterity of hands. This paper tackles the trade-off between actuation complexity and dexterity by proposing an anthropomorphic finger topology with 4 DoFs driven by 2 actuators, and by developing an adaptive, modular dexterous hand based on this finger topology. We explore the biological basis of hand synergies and human gesture analysis, translating joint-level coordination and structural attributes into a modular finger architecture. Leveraging these biomimetic mappings, we design a five-finger modular hand and establish its kinematic model to analyze adaptive grasping and in-hand manipulation. Finally, we construct a physical prototype and conduct preliminary experiments, which validate the effectiveness of the proposed design and analysis.
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